JP7343657B2 - 光電センサ及び物体検出方法 - Google Patents
光電センサ及び物体検出方法 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B5/00—Optical elements other than lenses
- G02B5/08—Mirrors
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Description
Claims (17)
- 監視領域(20)内の物体を検出するための光電センサ(10)であって、発射光(16)を送出するための発光器(12)と、前記監視領域(20)からの受信光(22)から受信信号を生成するための受光器(26)と、前記受信光(22)を前記受光器(26)へ収束させるための受光光学系(24)と、前記発射光(16)及び前記受信光(22)を周期的に偏向させるための可動の偏向ユニット(18)と、前記受信信号に基づいて前記監視領域(20)内の物体に関する情報を取得するための制御及び評価ユニット(32)と、前記受信光(22)の光路内にある光学的な方向転換素子(18、40)とを備えるセンサ(10)において、
前記方向転換素子(18、40)が、前記受光光学系(24)の温度依存性の光線形成特性の変化に補償的に作用して対抗する温度依存性の光線形成特性を呈することを特徴とするセンサ(10)。 - 前記方向転換素子(18、40)が温度依存性の湾曲を呈する、請求項1に記載のセン
サ(10)。 - 前記受光光学系(24)が受光レンズを有する、請求項1に記載のセンサ(10)。
- 前記方向転換素子(18、40)と前記受光光学系(24)の焦点距離が温度変化の下で互いに逆方向に変化する、請求項1~3のいずれかに記載のセンサ(10)。
- 前記受光器(26)の手前に絞り(44)が、前記受光光学系(24)の焦点距離に対応する距離に配置されている、請求項1~3のいずれかに記載のセンサ(10)。
- 前記方向転換素子(18、40)が所期温度において平坦であり、該所期温度からの乖離がある場合にはその乖離の符号に応じて凸面状又は凹面状の湾曲を呈する、請求項1~3のいずれかに記載のセンサ(10)。
- 前記方向転換素子(18、40)がセンサ(10)のために指定された温度範囲にわたって凸面状の湾曲のみ又は凹面状の湾曲のみを呈する、請求項1~3のいずれかに記載のセンサ(10)。
- 前記温度範囲の周縁部において方向転換素子(18、40)が平坦になるという境界事例を含む、請求項7に記載のセンサ(10)。
- 前記方向転換素子(18、40)が温度膨張の異なる少なくとも2つの材料を備えている、請求項1又は2に記載のセンサ(10)。
- 前記方向転換素子(18、40)が前記材料の少なくとも2層を備えている、請求項9に記載のセンサ(10)。
- 前記方向転換素子(18、40)が、前記材料の一方から成り、他方の材料で囲まれた芯を備える、請求項9に記載のセンサ(10)。
- 前記芯が円環状である、請求項11に記載のセンサ(10)。
- 前記方向転換素子(18、40)を変形するためのアクチュエータ素子が該方向転換素子(18、40)に割り当てられ、該アクチュエータ素子が温度依存性の光線形成特性を調節するために制御される、請求項1~3のいずれかに記載のセンサ(10)。
- 前記受信光(22)の光線断面を特定するための温度プローブ及び/又は感光性を持つ測定素子を備える、請求項1~3のいずれかに記載のセンサ(10)。
- 前記方向転換素子(18)が前記偏向ユニット(18)と一緒に運動するように配置されている、請求項1~3のいずれかに記載のセンサ(10)。
- 前記方向転換素子(40)が前記受信光(22)の受光路において前記受光光学系(24)の後段に配置された折畳み鏡(40)として構成されている、請求項1~3のいずれかに記載のセンサ(10)。
- 監視領域(20)内の物体を検出する方法であって、発射光(16)を送出し、物体の表面での反射の後、受光光学系(24)により受光器(26)へ収束させて受信光(22)として再び受光し、前記受光器(26)により受信信号に変換することで、該受信信号から物体情報を生成し、発射光(16)と受信光(22)を可動の偏向ユニット(18)を用いて周期的に偏向させ、前記受信光(22)を方向転換素子(18、40)で方向転換させる方法において、
前記方向転換素子(18、40)の光線形成特性が、前記受光光学系(24)の温度依存性の光線形成特性の変化に補償的に作用して対抗するように、温度とともに変化することを特徴とする方法。
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EP21180419.0 | 2021-06-18 | ||
EP21180419.0A EP4105682B1 (de) | 2021-06-18 | 2021-06-18 | Optoelektronischer sensor und verfahren zur erfassung von objekten |
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Citations (4)
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US20200201027A1 (en) | 2018-12-21 | 2020-06-25 | Didi Research America, Llc | Micromachined mirror assembly having multiple coating layers |
JP2021093794A (ja) | 2019-12-09 | 2021-06-17 | 北陽電機株式会社 | 電磁モータ、光偏向装置及び測距装置 |
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- 2021-06-18 EP EP21180419.0A patent/EP4105682B1/de active Active
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- 2022-05-18 JP JP2022081771A patent/JP7343657B2/ja active Active
- 2022-05-31 US US17/828,899 patent/US20220404476A1/en active Pending
- 2022-06-16 CN CN202210685744.6A patent/CN115494509A/zh active Pending
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JP2019086403A (ja) | 2017-11-07 | 2019-06-06 | パイオニア株式会社 | 測距装置及び走査装置の製造方法 |
US20200142156A1 (en) | 2018-11-02 | 2020-05-07 | Waymo Llc | Mirror Coupling |
US20200201027A1 (en) | 2018-12-21 | 2020-06-25 | Didi Research America, Llc | Micromachined mirror assembly having multiple coating layers |
JP2021093794A (ja) | 2019-12-09 | 2021-06-17 | 北陽電機株式会社 | 電磁モータ、光偏向装置及び測距装置 |
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US20220404476A1 (en) | 2022-12-22 |
JP2023001043A (ja) | 2023-01-04 |
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